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Implementation of Motion Simulation Software and Visual-Auditory Electronics for Use in a Low Gravity Robotic TestbedThe Jet Propulsion Laboratory (JPL) is developing the All-Terrain Hex-Limbed Extra-Terrestrial Explorer (ATHLETE) to assist in manned space missions. One of the proposed targets for this robotic vehicle is a near-Earth asteroid (NEA), which typically exhibit a surface gravity of only a few micro-g. In order to properly test ATHLETE in such an environment, the development team has constructed an inverted Stewart platform testbed that acts as a robotic motion simulator. This project focused on creating physical simulation software that is able to predict how ATHLETE will function on and around a NEA. The corresponding platform configurations are calculated and then passed to the testbed to control ATHLETE's motion. In addition, imitation attitude, imitation attitude control thrusters were designed and fabricated for use on ATHLETE. These utilize a combination of high power LEDs and audio amplifiers to provide visual and auditory cues that correspond to the physics simulation.

Document ID
Document Type
External Source(s)
Martin, William Campbell (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Date Acquired
April 17, 2015
Publication Date
September 22, 2011
Subject Category
Cybernetics, Artificial Intelligence and Robotics
Distribution Limits
All-Terrain Hex-Legged Extra -Terrestrial Explorer (ATHLETE)